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EKF: Prevent flow motion check false positives

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The previous implementation could false trigger if there was significant vibration below 200Hz during startup.
This commit is contained in:
Paul Riseborough
2018-05-09 07:47:17 +10:00
parent bdf5b3e003
commit bf902e5eca
3 changed files with 15 additions and 8 deletions
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EKF/ekf.h
+2 -1
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@@ -402,7 +402,8 @@ private:
// variables used to inhibit accel bias learning
bool _accel_bias_inhibit{false}; ///< true when the accel bias learning is being inhibited
float _accel_mag_filt{0.0f}; ///< acceleration magnitude after application of a decaying envelope filter (m/sec**2)
Vector3f _accel_vec_filt{}; ///< acceleration vector after application of a low pass filter (m/sec**2)
float _accel_mag_filt{0.0f}; ///< acceleration magnitude after application of a decaying envelope filter (rad/sec)
float _ang_rate_mag_filt{0.0f}; ///< angular rate magnitude after application of a decaying envelope filter (rad/sec)
Vector3f _prev_dvel_bias_var; ///< saved delta velocity XYZ bias variances (m/sec)**2